本文關(guān)鍵詞：網(wǎng)絡(luò)化多智能體系統(tǒng)的時變編隊(duì)跟蹤控制　出處：《哈爾濱工業(yè)大學(xué)》2017年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 網(wǎng)絡(luò)化多智能體系統(tǒng) 時變編隊(duì)跟蹤 時變一致性 廣義一致性 網(wǎng)絡(luò)化預(yù)測控制

【摘要】：運(yùn)動協(xié)作和編隊(duì)問題是多智能體系統(tǒng)的一個重要應(yīng)用領(lǐng)域。在實(shí)際工程應(yīng)用中,期望的多智能體隊(duì)形中各個智能體之間的關(guān)系通常是隨時間變化的,甚至是時變非線性的。然而,現(xiàn)有文獻(xiàn)中只能解決一部分具有特定條件的多智能體系統(tǒng)時變編隊(duì)問題,對于多智能體的一般性的時變編隊(duì)問題尚沒有成熟的解決方案。多智能體系統(tǒng)一般性的時變編隊(duì)問題還是一個空白領(lǐng)域。因此,本文的主要研究目的是為了提出一套適用于有參考輸入的網(wǎng)絡(luò)化多智能體時變編隊(duì)控制策略。在多智能體系統(tǒng)控制問題中,智能體之間的網(wǎng)絡(luò)通信受限問題是一個不可避免的問題。智能體之間的通信延遲和丟包會影響系統(tǒng)的控制性能,甚至是破壞系統(tǒng)的穩(wěn)定性。在現(xiàn)有文獻(xiàn)中,從隨機(jī)過程的角度分析網(wǎng)絡(luò)延遲和通過數(shù)學(xué)模型對網(wǎng)絡(luò)延遲進(jìn)行補(bǔ)償是兩種常用的研究手段。其中,從隨機(jī)過程進(jìn)行研究的控制策略通常需要假設(shè)網(wǎng)絡(luò)特性符合特定的隨機(jī)分布,這使得控制策略的工程應(yīng)用范圍受到很大的限制。網(wǎng)絡(luò)化預(yù)測控制是一種基于數(shù)學(xué)模型的對網(wǎng)絡(luò)通信延遲和丟包進(jìn)行補(bǔ)償?shù)墓こ谭椒�。然�?在現(xiàn)有文獻(xiàn)中,利用網(wǎng)絡(luò)化預(yù)測控制策略解決智能體間的通信延遲問題通常采用一種“被動補(bǔ)償”的方式,這使得整個系統(tǒng)中需要多次重復(fù)的實(shí)現(xiàn)用于延遲補(bǔ)償?shù)膭討B(tài)補(bǔ)償器,進(jìn)而使得系統(tǒng)整體的運(yùn)算效率低下。為了解決多智能體的時變編隊(duì)跟蹤控制問題,本文首先將現(xiàn)有的多智能體一致性問題擴(kuò)展到多智能體的時變一致性問題,分別針對一階平面網(wǎng)絡(luò)化多智能體系統(tǒng)和一般線性網(wǎng)絡(luò)化多智能體系統(tǒng)提出了時變一致性協(xié)議設(shè)計(jì)方法和穩(wěn)定性分析方法。齊次,為了解決更一般性的時變編隊(duì)控制問題,本文提出了廣義一致性控制問題,并針對一階平面網(wǎng)絡(luò)化多智能體系統(tǒng)給出了廣義一致性協(xié)議設(shè)計(jì)方法和穩(wěn)定性分析方法。在解決智能體間通信受限問題上,我們針對智能體間網(wǎng)絡(luò)通信延遲和丟包問題設(shè)計(jì)了基于模型的主動預(yù)測補(bǔ)償策略。相比于現(xiàn)有的“被動補(bǔ)償策略”,“主動補(bǔ)償策略”有效的解決的多智能體系統(tǒng)整體計(jì)算效率低下的問題。在編隊(duì)方面,為了解決傳統(tǒng)“一致性問題”在解決時變編隊(duì)問題的瓶頸,我們提出了“時變一致性問題”,并給出了時變一致性協(xié)議設(shè)計(jì)方法和穩(wěn)定性分析方法。時變一致性問題有效的描述和解決了期望隊(duì)形中智能體間的輸出差(或狀態(tài)差)隨時間變化時的編隊(duì)問題。利用本文提出的控制策略,能夠確定多智能體系統(tǒng)在編隊(duì)過程中不隨隊(duì)形時變特性變化的穩(wěn)態(tài)誤差的上界,從而確保智能體不會在隊(duì)形保持過程中發(fā)生碰撞事故。在時變一致性的基礎(chǔ)上,為了描述和解決更一般性的時變編隊(duì)問題,我們提出了廣義一致性問題,并給出了一階平面多智能體系統(tǒng)的廣義一致性協(xié)議設(shè)計(jì)方法和穩(wěn)定性分析方法。在理論成果的工程驗(yàn)證方面,我們在自主研發(fā)的新型網(wǎng)絡(luò)化控制器NetcontrollerDM3730的基礎(chǔ)上,并實(shí)現(xiàn)了新型的網(wǎng)絡(luò)化控制系統(tǒng)仿真與實(shí)驗(yàn)平臺。同時,為了提高實(shí)驗(yàn)過程中輪式機(jī)器人對定位信號延遲和數(shù)據(jù)丟失的魯棒性,我們研究了反饋通道存在延遲和丟包的輪式機(jī)器人跟蹤控制問題。在理論研究成果和工程驗(yàn)證平臺的基礎(chǔ)上,本文分別在局域網(wǎng)環(huán)境和萬維網(wǎng)環(huán)境下實(shí)現(xiàn)了充分的實(shí)驗(yàn)和實(shí)時仿真。實(shí)驗(yàn)和實(shí)時仿真的結(jié)果驗(yàn)證了本文提出的控制策略能夠有效解決網(wǎng)絡(luò)化多智能體的時變編隊(duì)跟蹤控制問題。據(jù)我們所知,本文中實(shí)現(xiàn)的輪式機(jī)器人環(huán)繞編隊(duì)以及輪式機(jī)器人在給定曲線路徑上的固定車距編隊(duì)均為在本文中首次實(shí)現(xiàn)。
[Abstract]:The movement coordination and formation is an important application of multi-agent system. In practical application, the relationships among the intelligent multi-agent formation in the body is usually expected to change over time, and even time-varying nonlinear. However, variable formation in the existing literature can only solve part of the the specific conditions of the multi-agent system, the general multi-agent time-varying formation problem is still not a mature solution. The general multi-agent system time-varying formation problem is still a blank field. Therefore, the main research purpose of this paper is to put forward a set of suitable for formation control strategy the reference input of networked multi-agent. The time-varying control problem in multi-agent systems, the problem of Limited network communication between the agents is an unavoidable problem. The communication delay and lost between the agents The package will affect the control performance of the system, and even undermine the stability of the system. In the existing literature, from the view of stochastic process analysis by mathematical model of network delay and network delay compensation are the two commonly used research methods. The research from the stochastic process control strategy usually needs to assume the network characteristics are consistent with the random distribution specific, the application scope of control strategy is limited. Networked predictive control is a mathematical model of Engineering compensation method for network communication based on delay and packet loss. However, in the existing literature, the network usually uses a "passive compensation" predictive control strategy to solve the communication agent the delay problem, which makes repeated implementation for dynamic compensator delay compensation needs of the entire system, which makes the whole system The operation efficiency is low. In order to solve the multi agent time-varying tracking control problem of formation, the multi-agent consensus problem existing extended to multi-agent time-varying consistency problem, design method and stability analysis of consistency protocol method respectively according to the first-order planar networked multi-agent systems and general linear network multi agent system is proposed. The time-varying homogeneous, in order to solve the more general time-varying formation control problem, this paper proposes a control problem of generalized consistency, and multi-agent system are given the broad consensus protocol design method and stability analysis method for the first-order planar network in solving the problem of limited communication. Among the agents, we aim at the intelligent body network communication delay and packet loss problems in the design of active compensation strategy based on prediction model. Compared with the existing "passive compensation strategy", "main The whole multi-agent system to solve the dynamic compensation strategy of the problem of low computation efficiency. In the formation, in order to solve the bottleneck of traditional "consistency" formation when solving the problems, we proposed a time varying consistency problem, design method and stability analysis method and consistency protocol are given. Variable. Time varying consistency problems effectively describe and solve the expected output of the difference between the formation of agent (or worse) formation changes with time. The control strategy proposed in this paper, the upper bound can determine the multi-agent system in the process of shape formation with no steady-state error time-varying characteristics of change intelligent, so as to ensure the body does not keep in formation collision process. Based on the variable consistency in the formation, in order to describe and solve problems become more general, we propose a generalized uniform The problem, and gives the analysis method of generalized consistent first-order planar multi-agent system design method and stability. In the theoretical results of the engineering verification, based on independent research and development of our new network controller NetcontrollerDM3730, and the realization of the network model and simulation control system experimental platform. At the same time, in order to to improve the robustness of wheeled robot in the process of positioning signal delay and data loss, we study the existence of wheeled robot feedback channel delay and packet loss tracking control problem. Based on theoretical research and engineering verification platform, this paper in the LAN environment and web environment to achieve adequate experimental and real-time simulation. Experiment and real-time simulation results verify the proposed control strategy can effectively solve the networked multi-agent time-varying formation tracking Control problem. According to our knowledge, the wheeled robot's surrounding formation and wheeled robot's fixed vehicle distance formation on given curve path are first implemented in this paper.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：TP18;TP13
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本文編號：1402110